#include<ros/ros.h>
#include<geometry_msgs/Twist.h>

int main(int argc, char** argv)
{
    ros::init(argc,argv,"q3_3a");
    ros::NodeHandle n;
    ros::Publisher num_pub=n.advertise<geometry_msgs::Twist>("send_3a",20);
    // 设置循环频率
    ros::Rate rate(10); // 10Hz 100ms
    while(ros::ok())
    {
        geometry_msgs::Twist cmd_vel;
        cmd_vel.linear.x=4.0;
        cmd_vel.linear.y=0.0;
        cmd_vel.linear.z=0.0;
        cmd_vel.angular.x=0.0;
        cmd_vel.angular.y=0.0;
        cmd_vel.angular.z=3.14/6.0;
        num_pub.publish(cmd_vel);
        ros::spinOnce();
        rate.sleep();
    }
    return 0;
}